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arXiv · 2603.08045

Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds

Philipp Schitz·Johann C. Dauer·Paolo Mercorelli
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Abstract

This paper presents a systematic framework for computing formally guaranteed trajectory tracking error bounds for autonomous helicopters based on Robust Positive Invariant (RPI) sets. The approach focuses on establishing a closed-loop translational error dynamics which is cast into polytopic linear parameter-varying form with bounded additive and state-dependent disturbances. Ellipsoidal RPI sets are computed, yielding explicit position error bounds suitable as certified buffer zones in upper-level trajectory planning. Three controller architectures are compared with respect to the conservatism of their error bounds and tracking performance. Simulation results on a nonlinear helicopter model demonstrate that all architectures respect the derived bounds, while highlighting trade-offs between dynamical fidelity and conservatism in invariant set computation.

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Philipp Schitz, Johann C. Dauer, Paolo Mercorelli. 2026-03-09. Trajectory Tracking Control Design for Autonomous Helicopters with Guaranteed Error Bounds. https://arxiv.org/abs/2603.08045

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